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Allow actuators to add damping and armature to joint and tendon transmissions.

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PiperOrigin-RevId: 886899849
Change-Id: I02200ee0d4f7c96096d8188b95f823b566562a30
This commit is contained in:
Yuval Tassa
2026-03-20 11:40:35 -07:00
committed by Copybara-Service
parent f7bd6d15f7
commit 510d75f4cf
25 changed files with 1164 additions and 77 deletions
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src/engine/engine_core_util.h
+6
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@@ -129,6 +129,12 @@ MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum res
// count the number of length limit violations for tendon i (0, 1 or 2)
int tendonLimit(const mjModel* m, const mjtNum* ten_length, int i);
// return actuator damping contribution to joint or tendon
MJAPI mjtNum mj_actuatorDamping(const mjModel* m, mjtObj type, int id, mjtNum poly[mjNPOLY]);
// return actuator armature contribution to joint or tendon
MJAPI mjtNum mj_actuatorArmature(const mjModel* m, mjtObj type, int id);
// high-level warning function: count warnings in mjData, print only the first time
MJAPI void mj_warning(mjData* d, int warning, int info);